FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3109689575> ?p ?o ?g. }

• W3109689575 endingPage "103703" @default.
• W3109689575 startingPage "103703" @default.
• W3109689575 abstract "This paper presents a planning framework for jumping over obstacles with quadruped robots. The framework accomplishes planning via a structured predictive control strategy that combines the use of heterogeneous simplified models over different prediction time scales. A receding multi-horizon predictive controller coordinates the approach before the jump using a kinematic point-mass model. Consideration of the optimal value function over different planning horizons enables the system to select an appropriate number of steps to take before jumping. The jumping motion is then tailored to the sensed obstacle by solving a nonlinear trajectory optimization problem. The solution of this problem online is enabled by exploiting the analyticity of the flow map for a planar bounding template model under polynomial inputs. By planning with this combination of models, MIT Cheetah 2 is shown to autonomously jump over obstacles up to 40 cm in height during high-speed bounding. Untethered results showcase the ability of the method to automatically adapt to obstacles of different heights and placements in a single trial." @default.
• W3109689575 created "2020-12-07" @default.
• W3109689575 creator A5019042069 @default.
• W3109689575 creator A5029126529 @default.
• W3109689575 creator A5075113067 @default.
• W3109689575 date "2021-02-01" @default.
• W3109689575 modified "2023-10-18" @default.
• W3109689575 title "Jumping over obstacles with MIT Cheetah 2" @default.
• W3109689575 cites W1502718064 @default.
• W3109689575 cites W1970101292 @default.
• W3109689575 cites W1975230295 @default.
• W3109689575 cites W1978347628 @default.
• W3109689575 cites W1983864916 @default.
• W3109689575 cites W2005577175 @default.
• W3109689575 cites W2009816535 @default.
• W3109689575 cites W2013439434 @default.
• W3109689575 cites W2043735243 @default.
• W3109689575 cites W2070314415 @default.
• W3109689575 cites W2116773335 @default.
• W3109689575 cites W2154139861 @default.
• W3109689575 cites W2155195832 @default.
• W3109689575 cites W2294564419 @default.
• W3109689575 cites W2334471582 @default.
• W3109689575 cites W2491414412 @default.
• W3109689575 cites W2573227850 @default.
• W3109689575 cites W2593412525 @default.
• W3109689575 cites W2771123153 @default.
• W3109689575 cites W2771691050 @default.
• W3109689575 cites W2788030459 @default.
• W3109689575 cites W2850053679 @default.
• W3109689575 cites W2885642537 @default.
• W3109689575 cites W2889693550 @default.
• W3109689575 cites W2909331752 @default.
• W3109689575 cites W2909553221 @default.
• W3109689575 cites W2911087563 @default.
• W3109689575 cites W2949582037 @default.
• W3109689575 cites W2950302787 @default.
• W3109689575 cites W2963315892 @default.
• W3109689575 cites W3041078985 @default.
• W3109689575 cites W3100238596 @default.
• W3109689575 cites W3102715624 @default.
• W3109689575 doi "https://doi.org/10.1016/j.robot.2020.103703" @default.
• W3109689575 hasPublicationYear "2021" @default.
• W3109689575 type Work @default.
• W3109689575 sameAs 3109689575 @default.
• W3109689575 citedByCount "34" @default.
• W3109689575 countsByYear W31096895752021 @default.
• W3109689575 countsByYear W31096895752022 @default.
• W3109689575 countsByYear W31096895752023 @default.
• W3109689575 crossrefType "journal-article" @default.
• W3109689575 hasAuthorship W3109689575A5019042069 @default.
• W3109689575 hasAuthorship W3109689575A5029126529 @default.
• W3109689575 hasAuthorship W3109689575A5075113067 @default.
• W3109689575 hasBestOaLocation W31096895751 @default.
• W3109689575 hasConcept C121332964 @default.
• W3109689575 hasConcept C126255220 @default.
• W3109689575 hasConcept C1276947 @default.
• W3109689575 hasConcept C13662910 @default.
• W3109689575 hasConcept C14646407 @default.
• W3109689575 hasConcept C154945302 @default.
• W3109689575 hasConcept C158622935 @default.
• W3109689575 hasConcept C172205157 @default.
• W3109689575 hasConcept C173246807 @default.
• W3109689575 hasConcept C17744445 @default.
• W3109689575 hasConcept C199539241 @default.
• W3109689575 hasConcept C19966478 @default.
• W3109689575 hasConcept C203479927 @default.
• W3109689575 hasConcept C2775924081 @default.
• W3109689575 hasConcept C2776650193 @default.
• W3109689575 hasConcept C2779897013 @default.
• W3109689575 hasConcept C2780695682 @default.
• W3109689575 hasConcept C33923547 @default.
• W3109689575 hasConcept C39920418 @default.
• W3109689575 hasConcept C41008148 @default.
• W3109689575 hasConcept C42407357 @default.
• W3109689575 hasConcept C47446073 @default.
• W3109689575 hasConcept C62520636 @default.
• W3109689575 hasConcept C63584917 @default.
• W3109689575 hasConcept C6557445 @default.
• W3109689575 hasConcept C6683253 @default.
• W3109689575 hasConcept C74650414 @default.
• W3109689575 hasConcept C81074085 @default.
• W3109689575 hasConcept C86803240 @default.
• W3109689575 hasConcept C90509273 @default.
• W3109689575 hasConcept C91575142 @default.
• W3109689575 hasConceptScore W3109689575C121332964 @default.
• W3109689575 hasConceptScore W3109689575C126255220 @default.
• W3109689575 hasConceptScore W3109689575C1276947 @default.
• W3109689575 hasConceptScore W3109689575C13662910 @default.
• W3109689575 hasConceptScore W3109689575C14646407 @default.
• W3109689575 hasConceptScore W3109689575C154945302 @default.
• W3109689575 hasConceptScore W3109689575C158622935 @default.
• W3109689575 hasConceptScore W3109689575C172205157 @default.
• W3109689575 hasConceptScore W3109689575C173246807 @default.
• W3109689575 hasConceptScore W3109689575C17744445 @default.
• W3109689575 hasConceptScore W3109689575C199539241 @default.
• W3109689575 hasConceptScore W3109689575C19966478 @default.
• W3109689575 hasConceptScore W3109689575C203479927 @default.

• next